
\begin{table}
\caption{Mesh refinement statistics: Manutec R3 robot problem}
\label{mesh_stats_manutec}
\renewcommand{\tabcolsep}{0.15cm}
\tiny
\begin{tabular}{llllllllllll}
Iter&DM&M&NV&NC&OE&CE&JE&HE&RHS&$\epsilon_{\max}$&CPU$_\mathrm{a}$ \\ \hline \\
1&LGL-ST&20&182&133&43&43&35&0&860&4.676e-05&3.949e-01\\
2&LGL-ST&25&227&163&33&34&29&0&850&3.636e-05&4.298e-01\\
3&LGL-ST&35&317&223&37&38&30&0&1330&2.787e-05&7.294e-01\\
4&LGL-ST&49&443&307&18&19&17&0&931&7.660e-06&6.760e-01\\
\hline
CPU$_\mathrm{b}$ &-&-&-&-&-&-&-&-&-&-&2.475e+00\\
-&-&-&-&-&131&134&111&0&3971&-&4.705e+00\\
\end{tabular}
\newline \\ \emph{Key}: Iter=iteration number, DM= discretization method, M=number of nodes, NV=number of variables, NC=number of constraints, OE=objective evaluations,  	              CE = constraint evaluations, JE = Jacobian evaluations, HE = Hessian evaluations, RHS = ODE right hand side 		      evaluations, $\epsilon_{\max}$ = maximum relative ODE error, CPU$_\mathrm{a}$ = CPU time in seconds spent by NLP algorithm, 		      CPU$_\mathrm{b}$ = additional CPU time in seconds spent by PSOPT
\normalsize
\end{table}